Toward Bezier Curve Bank-Turn Trajectory Generation for Flying Robot

Machmudah, Affiani; Parman, Setyamartana; Zainuddin, Azman

doi:10.1007/978-3-642-23363-0_5

Cited by 1 publication

(5 citation statements)

References 14 publications

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“…These UAVs need to arrive from their start points to their destination points at the same mission time. Results in this section have shown that the variable speed strategy proposed in this paper has better performance than the previous variable speed strategy in [15]. The next sub section applies the proposed variable speed strategy to the UAVs simultaneously on target mission.…”

Section: Cooperative Uav Simultaneous On Arrivalmentioning

confidence: 91%

Section: Comparison With Previous Variable Speed Strategymentioning

confidence: 99%

“…This section compares the proposed variable speed strategy with the variable speed scenario in [15]. For convenience, the scenario developed in this paper is called scenario 1 and the scenario in [15] is referred to as scenario 2. Both variable speeds strategies use the third-degree polynomial as the speed profile; however, they have different speed generation procedure.…”

Section: Comparison With Previous Variable Speed Strategymentioning

confidence: 99%

“…In their paper, they did not discuss the flight trajectory generation. Machmudah et al [15] presented path planning and trajectory planning of single UAV using the GA. Minimum path planning with Bezier curve and trajectory generation using thirddegree polynomial with four unknown searching variables were developed.…”

Section: Introductionmentioning

confidence: 99%

“…The UAV motion planning considering a flight mechanics to accommodate a UAV flight performance had been considered in [15,[18][19][20][21][22]. Yu et al [18] applied Bezier Curve-Based Shaping (BCBS) to generate 3D cooperative trajectories for the UAVs.…”

Section: Introductionmentioning

confidence: 99%

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Flight Trajectories Optimization of Fixed-Wing UAV by Bank-Turn Mechanism

Machmudah

Shanmugavel

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et al. 2022

Drones

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This paper addresses an optimization of Unmanned Aerial Vehicle (UAV) flight trajectories by bank-turn mechanism for a fixed-wing UAV at a constant altitude. The flight trajectories should be optimal and stay in the UAV flight operational area. The maneuver planning is conducted in two steps, which are UAV path planning and UAV flight trajectory planning. For the first step, the Bezier curve is employed as a maneuvering path. The path planning optimization objective is to minimize the path length while satisfying maximum curvature and collision avoidance constraints. The flight trajectories optimization objective is to minimize maneuvering time and load factor considering, minimum/maximum speed, minimum/maximum acceleration, maximum roll angle, maximum turn rate, and aerodynamics constraints. The variable speed trajectory generation is developed within allowable speed zone considering these UAV flight constraints by employing meta-heuristic optimizations. Results show that the PSO have outperformed the GA and the GWO for both steps of path planning and trajectory planning. The variable speed has succeeded in reducing the load factor during the bank-turn mechanism using the Bezier curve. The variable speed is recommended to be conducted when the result of the maneuvering path involve the lower turning radius. A simultaneous on arrival target mission has also succeeded to be conducted using the combination of the variable speed and constant speed strategies.

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Section: Cooperative Uav Simultaneous On Arrivalmentioning

confidence: 91%

Section: Comparison With Previous Variable Speed Strategymentioning

confidence: 99%